Unmanned aerial vehicle dock and battery replacement device thereof

ABSTRACT

All unmanned aerial vehicle dock includes a base plate, a battery replacement device for replacing a battery of an unmanned aerial vehicle, and a battery compartment mounted on the base plate and configured to receive and charge the battery. The battery replacement device includes a first linear motion mechanism mounted on the base plate, a second linear motion mechanism mounted on the first linear motion mechanism, a third linear motion mechanism mounted on the second linear motion mechanism, and a clamp mechanism mounted on the third linear motion mechanism.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a continuation application of International Application No.PCT/CN2014/083981, filed on Aug. 8, 2014, which claims the benefit ofpriority to International Application No. PCT/CN2014/083477, filed onJul. 31, 2014, the entire contents of both of which are incorporatedherein by reference.

TECHNICAL FIELD

The present disclosure relates to an unmanned aerial vehicle dock, andin particular, to an unmanned aerial vehicle dock capable ofautomatically replacing a battery of an unmanned aerial vehicle and abattery replacement device of the dock.

BACKGROUND

A battery life of a small scale unmanned aerial vehicle is limited. Inorder to adapt the unmanned aerial vehicle to a fully automated flightoperation, some research institutes and commercial companies have beendesigning an unmanned aerial vehicle ground dock capable ofautomatically replacing batteries of unmanned aerial vehicles.

A carousel battery compartment is provided in traditional unmannedaerial vehicle ground docks for battery storage. The carousel batterycompartment has a complicated structure and a large volume. However,only a small number of batteries can be stored in the rotary batterycompartment, which increasing a vertical height and an overall size.

SUMMARY

The present disclosure provides a battery replacement device of anunmanned aerial vehicle dock having a compact structure and a smallervolume.

In one aspect, the present disclosure provides a battery replacementdevice of an unmanned aerial vehicle dock for replacing a battery of anunmanned aerial vehicle. The battery replacement device can comprise: aclamp mechanism for gripping the battery; a first linear motionmechanism for driving a translational movement of the clamp mechanism ina first axis direction; a second linear a notion mechanism for driving atranslational movement of the clamp mechanism in a second axisdirection; and a third linear motion mechanism for driving atranslational movement of the clamp mechanism in a third axis direction.The first axis direction, the second axis direction and the third axisdirection can build a three-dimensional Cartesian coordinate system, anda coordinate position of the clamp mechanism in the three-dimensionalCartesian coordinate system can be adjusted by the first linear motionmechanism, the second linear motion mechanism and the third linearmotion mechanism.

The unmanned aerial vehicle dock consistent with the present disclosureis advantageous over conventional art.

According to an aspect, the battery replacement device of the unmannedaerial vehicle dock comprises three linear motion mechanisms which builda Cartesian coordinate system. The clamp mechanism can be driven by thethree linear motion mechanisms to place a battery of an unmanned aerialvehicle into the battery compartment or take a battery of an unmannedaerial vehicle out from the battery compartment, without employing arotary battery compartment which occupies a larger volume. When thebattery replacement device completes a battery replacement or ceases anoperation, the battery replacement device can move to a side of theinternal space in the unmanned aerial vehicle dock by a translationalmovement of the three linear motion mechanisms and then contracted, suchthat the internal space in the unmanned aerial vehicle dock can bereduced. The battery replacement device of the unmanned aerial vehicledock consistent with the present disclosure has a compact structure andsmaller volume; thereby the unmanned aerial vehicle dock can beminimized.

According to another aspect, the battery replacement device of theunmanned aerial vehicle dock consistent with the present disclosurecomprises three linear motion mechanisms which build a Cartesiancoordinate system. A battery of an unmanned aerial vehicle can bedirectly inserted into the battery compartment without a need ofadjusting an orientation of the battery by an additional driving means.The battery replacement device of the unmanned aerial vehicle dockconsistent with the present disclosure has a simpler structure and alower cost than a conventional battery replacement device.

In some embodiments, the first linear motion mechanism, the secondlinear motion mechanism and the third linear motion mechanism can movesequentially. Alternatively, at least two of the first linear motionmechanism, the second linear motion mechanism and the third linearmotion mechanism can move simultaneously.

In some embodiments, the three-dimensional Cartesian coordinate systemcan be a rectangular coordinate system or an oblique coordinate system.

In some embodiments, the first linear motion mechanism can be a rotarymotor-driven linear motion mechanism, a belt linear motion mechanism, anair cylinder-driven linear motion mechanism or a linear motor-drivenlinear motion mechanism.

In some embodiments, the second linear motion mechanism can be a rotarymotor-driven linear motion mechanism, a belt linear motion mechanism, anair cylinder-driven linear motion mechanism or a linear motor-drivenlinear motion mechanism.

In some embodiments, the third linear motion mechanism can be a rotarymotor-driven linear motion mechanism, a belt linear motion mechanism, anair cylinder-driven linear motion mechanism or a linear motor-drivenlinear motion mechanism.

In some embodiments, the clamp mechanism can be a vacuum suction cupclamp mechanism, a magnet clamp mechanism or a mechanical gripper clampmechanism.

In some embodiments, the clamp mechanism can be provided on the thirdlinear motion mechanism, the third linear motion mechanism can bedisposed on the second linear motion mechanism, the second linear motionmechanism can be disposed on the first linear motion mechanism, and thefirst linear motion mechanism can be disposed on a base plate. The thirdlinear motion mechanism and the first linear motion mechanism can movein parallel to the base plate, the second linear motion mechanism canmove to approach or leave the base plate

In some embodiments, the clamp mechanism can be disposed on the thirdlinear motion mechanism, the clamp mechanism can be provided on thethird linear motion mechanism, the third linear motion mechanism can bedisposed on the second linear motion mechanism, the second linear motionmechanism can be disposed on the first linear motion mechanism, and thefirst linear motion mechanism can be disposed on a base plate. Thesecond linear motion mechanism and the first linear motion mechanism canmove in parallel to the base plate, the third linear motion mechanismcan move to approach or leave the base plate.

In some embodiments, the clamp mechanism can be provided on the thirdlinear motion mechanism, the third linear motion mechanism can bedisposed on the second linear motion mechanism, the second linear motionmechanism can be disposed on the first linear motion mechanism, and thefirst linear motion mechanism can be disposed on a base plate. The thirdlinear motion mechanism and the second linear motion mechanism can movein parallel to the base plate, the first linear motion mechanism canmove to approach or leave the base plate.

In another aspect, the present disclosure provides a battery replacementdevice of the unmanned aerial vehicle dock.

The battery replacement device of the unmanned aerial vehicle dock forreplacing a battery of an unmanned aerial vehicle can comprise: a firstlinear motion mechanism which comprises a first driving member and afirst carrying member, the first driving member driving a translationalmovement of a first carrying member in a first axis direction; a secondlinear motion mechanism which is mounted on the first carrying memberand comprises a second driving member and a second carrying member, thesecond driving member driving a translational movement of the secondcarrying member in a second axis direction; a third linear motionmechanism which is mounted on the second carrying member and comprises athird driving member and a third carrying member, the third drivingmember driving a translational movement of the third carrying member tomove in a third axis direction; and a clamp mechanism which is mountedon the third carrying member and grips the battery. In some embodiments,the first axis direction, the second axis direction and the third axisdirection can build a three-dimensional Cartesian coordinate system, anda coordinate position of the clamp mechanism in the three-dimensionalCartesian coordinate system can be adjusted by the first driving member,the second driving member and the third driving member.

The unmanned aerial vehicle dock consistent with the present disclosureis advantageous over conventional art.

According to an aspect, the battery replacement device comprises threelinear motion mechanisms which build a Cartesian coordinate system. Theclamp mechanism can be driven by the three linear motion mechanisms toplace a battery of an unmanned aerial vehicle into the batterycompartment or take a battery of an unmanned aerial vehicle out from thebattery compartment, without employing a rotary battery compartmentwhich occupies a larger volume. When the battery replacement devicecompletes a battery replacement or ceases an operation, the batteryreplacement device can move to a side of the internal space in theunmanned aerial vehicle dock by a translational movement of the threelinear motion mechanisms and then contracted, such that the internalspace in the unmanned aerial vehicle dock can be reduced. The batteryreplacement device of the manned aerial vehicle dock consistent with thepresent disclosure has a compact structure and smaller volume; therebythe unmanned aerial vehicle dock can be minimized.

According to another aspect, the battery replacement device consistentwith the present disclosure comprises three linear motion mechanismswhich build a Cartesian coordinate system. A battery of an unmannedaerial vehicle can be directly inserted into the battery compartmentwithout a need of adjusting an orientation of the battery by anadditional driving means. The battery replacement device of the unmannedaerial vehicle dock consistent with the present disclosure has a simplerstructure and a lower cost than a conventional battery replacementdevice.

According to still another aspect, the battery replacement deviceconsistent with the present disclosure comprises three independentdriving members for driving three carrying members respectively. Two ofthe three carrying members can carry two linear motion mechanisms, andthe other one of the three carrying members can carry the clampmechanism. The three carrying members can translate independently, suchthat a stability and flexibility of the clamp mechanism in movingoperation is improved.

In some embodiments, the first linear motion mechanism can furthercomprise a first guiding member which is disposed in parallel to thefirst axis direction. The first carrying member can be provided with afirst fitting member which is fitted with the first guiding member, suchthat the first carrying member slides along the first guiding member.

In some embodiments, the first guiding member can be a rail which isdisposed in parallel to the first axis direction. The first fittingmember can be a sliding block which is fixed on a bottom of the firstcarrying member and provided with a sliding groove having a shape fittedwith the rail. Alternatively, the first guiding member can be a guiderod which is disposed in parallel to the first axis direction. The firstfitting portion can be a hole provided on the first carrying member. Theguide rod can penetrate through the hole and slide inside the hole.

In some embodiments, the first driving member can be a rotary motor. Thefirst linear motion mechanism can further comprise a first leadscrew anda first screw nut sleeved thereon. A driving shaft of the first drivingmember can be fixedly and coaxially connected with one end of the firstleadscrew. The first screw nut can be fixedly connected with the firstcarrying member. The first driving member can drive a rotation of thefirst leadscrew. The first leadscrew can be in a threaded fit with thefirst screw nut to drive a movement thereof. The first screw nut candrive a linear translation of the first carrying member.

In some embodiments, the first linear motion mechanism can furthercomprise one leadscrew seat and two motor brackets. A bearing can beprovided at the leadscrew seat. An end of the first leadscrew, which isdistal from the first driving member, can be disposed in the hearing ofthe leadscrew seat. The two motor brackets can be fixed on a base plateand disposed opposite to and spaced from each other. A mounting tab canbe provided at each of two opposite ends of the first driving member.The two mounting tabs can be fixedly connected with the two motorbrackets respectively to fix the first driving member on the base plate.The first screw nut can be fixed on the first carrying member.

In some embodiments, two first guiding members can be provided. The twofirst guiding members can be located at two sides of the first leadscrewrespectively and disposed in parallel to the first leadscrew.

In some embodiments, the first driving member can be an air cylinderhaving a link. The link can be fixedly connected with the first carryingmember to drive a movement thereof.

In some embodiments, the first driving member can be a linear motor. Aprimary of the linear motor can be fixedly connected with the firstcarrying member to drive a synchronous movement thereof. Alternatively,the first driving member can be an air cylinder having no link. A pistonof the air cylinder can be fixedly connected with the first carryingmember to drive a synchronous movement thereof.

In some embodiments, the first carrying member can be a plate which isprovided with a hollow portion.

In some embodiments, the first linear motion mechanism can furthercomprise a first limit switch which is disposed along the first axisdirection for sensing a moving position of the first carrying member.

In some embodiments, the first limit switch can be a photoelectric limitswitch, a reed switch limit switch or an inductive limit switch.

In some embodiments, the second linear motion mechanism can furthercomprise a second guiding member which is disposed in parallel to thesecond axis direction. The second carrying member can be provided with asecond fitting member which is fitted with the second guiding member,such that the second carrying member slides along the second guidingmember.

In some embodiments, the second guiding member can be a rail which isdisposed in parallel to the second axis direction. The second fittingmember can be a sliding block which is fixed on a bottom of the secondcarrying member and provided with a sliding groove having a shape fittedwith the rail. Alternatively, the second guiding member can be a guiderod which is disposed in parallel to the second axis direction. Thesecond fitting portion can be a hole provided on the second carryingmember. The guide rod can penetrate through the hole and slide insidethe hole.

In some embodiments, the second driving member can be a rotary motor.The second linear motion mechanism can further comprise a secondleadscrew and a second screw nut sleeved thereon. A driving shaft of thesecond driving member can be fixedly and coaxially connected with oneend of the second leadscrew. The second screw nut can be fixedlyconnected with the second carrying member. The second driving member candrive a rotation of the second leadscrew. The second leadscrew can be ina threaded fit with the second screw nut to drive a movement thereof.The second screw nut can drive a linear translation of the secondcarrying member.

In some embodiments, the second linear motion mechanism can furthercomprise a motor mounting plate on which the second driving member isfixed. The motor mounting plate can be fixed on the first carryingmember through a threaded fastener. The second screw nut can be fixed onthe second carrying member.

In some embodiments, the second guiding members can be provided. The twosecond guiding members can be located at two sides of the secondleadscrew respectively and disposed in parallel to the second leadscrew.

In some embodiments, the second driving member can be an air cylinderhaving a link. The link can be fixedly connected with the secondcarrying member to drive a movement thereof.

In some embodiments, the second driving member can be a linear motor. Aprimary of the linear motor can be fixedly connected with the secondcarrying member to drive a synchronous movement thereof. Alternatively,the second driving member can be an air cylinder having no link. Apiston attic air cylinder can be fixedly connected with the secondcarrying member to drive a synchronous movement thereof.

In some embodiments, the second carrying member can be a plate which isprovided with a hollow portion.

In some embodiments, the second linear motion mechanism can furthercomprise a second limit switch which is disposed along the second axisdirection for sensing a moving position of the second carrying member.

In some embodiments, the second linear motion mechanism can furthercomprise a limit switch mounting plate fixedly connected with the secondguiding member. The second limit switch can be mounted on the limitswitch mounting plate.

In some embodiments, the second limit switch can be a photoelectriclimit switch, a reed switch limit switch or an inductive limit switch.

In some embodiments, the third linear motion mechanism can furthercomprise a third guiding member which is disposed in parallel to thethird axis direction. The third carrying member can be provided with athird fitting member which is fitted with the third guiding member, suchthat the third carrying member slides along the third, guiding member.

In some embodiments, the third guiding member can be a rail which isdisposed in parallel to the third axis direction. The third fittingportion can be a sliding block which is fixed on a bottom of the thirdcarrying member and provided with a sliding groove having a shape fittedwith the rail. Alternatively, the third guiding member can be a guiderod which is disposed in parallel to the third axis direction. The thirdfitting portion can be a hole provided on the third carrying member. Theguide rod can penetrate through the hole and slide inside the hole.

In some embodiments, the third driving member can be a rotary motor. Thethird linear motion mechanism can further comprise a third leadscrew anda third screw nut sleeved thereon. A driving shaft of the third drivingmember can be fixedly and coaxially connected with one end of the thirdleadscrew. The third screw nut can be fixedly connected with the thirdcarrying member. The third driving member can drive a rotation of thethird leadscrew. The third leadscrew can be in a threaded fit with thethird screw nut to drive a movement thereof. The third screw nut candrive a linear translation of the third carrying member.

In some embodiments, the third linear motion mechanism can furthercomprise two guiding member mounting brackets which are fixed on thesecond carrying member and disposed opposite to and spaced from eachother. The third driving member can be mounted at one of the two guidingmember mounting brackets. A bearing can be provided at the other one ofthe two guiding member mounting brackets. An end of the third leadscrew,which is distal from the third driving member, can be disposed in thebearing which is provided at the other one of the two guiding membermounting brackets. Two ends of the third guiding members can be fixed onthe two guiding member mounting brackets, respectively. The third screwnut can be fixed on the third carrying member.

In some embodiments, the third linear motion mechanism can furthercomprise two battery brackets for supporting the battery of the unmannedaerial vehicle. The two battery brackets can be mounted on one of thetwo guiding member mounting brackets, which being distal from the thirddriving member, and can be disposed opposite to and spaced from eachother.

In some embodiments, one third guiding member can be provided. The thirdguiding member can be disposed opposite to and in parallel to the thirdleadscrew.

In some embodiments, the third driving member can be an air cylinderhaving a link. The link can be fixedly connected with the third carryingmember to drive a movement thereof.

In some embodiments, the third driving member can be a linear motor. Aprimary of the linear motor can be fixedly connected with the thirdcarrying member to drive a synchronous movement thereof. Alternatively,the third driving member can be an air cylinder having no link. A pistonof the air cylinder can be fixedly connected with the third carryingmember to drive a synchronous movement thereof.

In some embodiments, the third carrying member can be a plate which isprovided with a hollow portion.

In some embodiments, the third linear motion mechanism can furthercomprise a third limit switch which is disposed along the third axisdirection for sensing a moving position of the third carrying member.

In some embodiments, the third limit switch can be a photoelectric limitswitch, a reed switch limit switch or an inductive limit switch.

In some embodiments, the third linear motion mechanism can furthercomprise a third limit switch and a limit switch plate. Two ends of thelimit switch plate can be fixedly connected with the two guiding membermounting brackets respectively. The third limit switch can be mounted onthe limit switch plate.

In some embodiments, the clamp mechanism can be a vacuum suction cupclamp mechanism, a magnet clamp mechanism or a mechanical gripper clampmechanism.

In another aspect, the present disclosure provides an unmanned aerialvehicle dock having the above-described battery replacement device.

The unmanned aerial vehicle dock can comprise: a base plate; a batteryreplacement device for replacing a battery of an unmanned aerialvehicle, the battery replacement device comprising a first linear motionmechanism, a second linear motion mechanism, a third linear motionmechanism and a clamp mechanism; and a battery compartment mounted onthe base plate. The battery compartment can receive and charge thebattery. The first linear motion mechanism can be mounted on the baseplate and can comprise a first driving member and a first carryingmember. The first driving member can drive the first carrying member tomove translationally in a first axis direction. The second linear motionmechanism can be mounted on the first carrying member and can comprise asecond driving member and a second carrying member. The second drivingmember can drive the second carrying member to move translationally in asecond axis direction. The third linear motion mechanism can be mountedon the second carrying member and can comprise a third driving memberand a third carrying member. The third driving member can drive thethird carrying member to move translationally in a third axis direction.The first axis direction, the second axis direction and the third axisdirection can build a three-dimensional Cartesian coordinate system. Theclamp mechanism can be mounted on the third carrying member and gripsthe battery. A coordinate position of the clamp mechanism in thethree-dimensional Cartesian coordinate system can be adjusted by thefirst driving member, the second driving member and the third drivingmember. The battery replacement device can grip the battery, and takeout or insert the battery from or into the battery compartment.

The unmanned aerial vehicle dock consistent with the present disclosureis advantageous over conventional art.

According to an aspect, the battery replacement device of the unmannedaerial vehicle dock comprises three linear motion mechanisms which builda Cartesian coordinate system. The clamp mechanism can be driven by thethree linear motion mechanisms to place a battery of an unmanned aerialvehicle into the battery compartment or take a battery of an unmannedaerial vehicle out from the battery compartment, without employing arotary battery compartment which occupies a larger volume. When thebattery replacement device completes a battery replacement or ceases anoperation, the battery replacement device can move to a side of theinternal space in the unmanned aerial vehicle dock by a translationalmovement of the three linear motion mechanisms and then contracted, suchthat the internal space in the unmanned aerial vehicle dock can bereduced. The battery replacement device of the unmanned aerial vehicledock consistent with the present disclosure has a compact structure andsmaller volume; thereby the unmanned aerial vehicle dock can beminimized.

According to another aspect, the battery replacement device of theunmanned aerial vehicle dock consistent with the present disclosurecomprises three linear motion mechanisms which build a Cartesiancoordinate system. A battery of an unmanned aerial vehicle can bedirectly inserted into the battery compartment without a need ofadjusting an orientation of the battery by an additional driving means.The battery replacement device of the unmanned aerial vehicle dockconsistent with the present disclosure has a simpler structure and alower cost than a conventional battery replacement device.

According to still another aspect, the battery replacement device of theunmanned aerial vehicle dock consistent with the present disclosurecomprises three independent driving members for driving three carryingmembers respectively. Two of the three carrying members can carry twolinear motion mechanisms, and the other one of the three carryingmembers can carry the clamp mechanism.

In some embodiments, the first linear motion mechanism can furthercomprise a first guiding member which is disposed in parallel to thefirst axis direction. The first carrying member can be provided with afirst fitting member which is fitted with the first guiding member, suchthat the first carrying member slides along the first guiding member.

In some embodiments, the first guiding member can be a rail which isdisposed in parallel to the first axis direction. The first fittingmember can be a sliding block which is fixed on a bottom of the firstcarrying member and provided with a sliding groove having a shape fittedwith the rail. Alternatively, the first guiding member can be a guiderod which is disposed in parallel to the first axis direction. The firstfitting portion can be a hole provided on the first carrying member. Theguide rod can penetrate through the hole and slides inside the hole.

In some embodiments, the first driving member can be a rotary motor. Thefirst linear motion mechanism can further comprise a first leadscrew anda first screw nut sleeved thereon. A driving shaft of the first drivingmember can be fixedly and coaxially connected with one end of the firstleadscrew. The first screw nut can be fixedly connected with the firstcarrying member. The first driving member can drive the first leadscrewto rotate. The first leadscrew can be in a threaded fit with the firstscrew nut to drive the first screw to rotate. The first screw nut candrive the first carrying member to move translationally.

In some embodiments, the first linear motion mechanism can furthercomprise one leadscrew seat and two motor brackets. A bearing can beprovided at the leadscrew seat. An end of the first leadscrew, which isdistal from the first driving member, can be disposed in the bearing ofthe leadscrew seat. The two motor brackets can be fixed on a base plateand disposed opposite to and spaced flora each other. A mounting tab canbe provided at each of two opposite ends of the first driving member.The two mounting tabs can be fixedly connected with the two motorbrackets respectively to fix the first driving member on the base plate.The first screw nut can be fixed on the first carrying member.

In some embodiments, two first guiding members can be provided. The twofirst guiding members can be located at two sides of first leadscrewrespectively and disposed in parallel to the first leadscrew.

In some embodiments, the first driving member can be an air cylinderhaving a link. The link can be fixedly connected with the first carryingmember to drive the first carrying member to move.

In some embodiments, the first driving member can be a linear motor. Aprimary of the linear motor can be fixedly connected with the firstcarrying member to drive the first carrying member to movesynchronously. Alternatively, the first driving member can be an aircylinder having no link. A piston of the air cylinder can be fixedlyconnected with the first carrying member to drive the first carryingmember to move synchronously.

In some embodiments, the first carrying member can be a plate which isprovided with a hollow portion.

In some embodiments, the first linear motion mechanism can furthercomprise a first limit switch which is disposed along the first axisdirection for sensing a moving position of the first carrying member.

In some embodiments, the first limit switch can be a photoelectric limitswitch, a reed switch limit switch or an inductive limit switch.

In some embodiments, the second linear motion mechanism can furthercomprise a second guiding member which is disposed in parallel to thesecond axis direction. The second carrying member can be provided with asecond fitting member which is fitted with the second guiding member,such that the second carrying member slides along the second guidingmember.

In some embodiments, the second guiding member can be a rail which isdisposed in parallel to the second axis direction. The second fittingmember can be a sliding block which is fixed on a bottom of the secondcarrying member and provided with a sliding groove having a shape fittedwith the rail. Alternatively, the second guiding member can be a guiderod which is disposed in parallel to the second axis direction. Thesecond fitting portion can be a hole provided on the second carryingmember. The guide rod can penetrate through the hole and slides insidethe hole.

In some embodiments, the second driving member can be a rotary motor.The second linear motion mechanism can further comprise a secondleadscrew and a second screw nut sleeved thereon. A driving shaft of thesecond driving member can be fixedly and coaxially connected with oneend of the second leadscrew. The second screw nut can be fixedlyconnected with the second carrying member. The second driving member candrive a rotation of the second leadscrew. The second leadscrew can be ina threaded fit with the second screw nut to drive a movement thereof.The second screw nut can drive a linear translation of the secondcarrying member.

In some embodiments, the second linear motion mechanism can furthercomprise a motor mounting plate on which the second driving member isfixed. The motor mounting plate can be fixed on the first carryingmember through a threaded fastener. The second screw nut can be fixed onthe second carrying member.

In some embodiments, two second guiding members can be provided. The twosecond guiding members can be located at two sides of the secondleadscrew respectively and disposed in parallel to the second leadscrew.

In some embodiments, the second driving member can be an air cylinderhaving a link. The link can be fixedly connected with the secondcarrying member to drive a movement thereof.

In some embodiments, the second driving member can be a linear motor. Aprimary of the linear for can be fixedly connected with the secondcarrying member to drive a synchronous movement thereof. Alternatively,the second driving member can be an air cylinder having no link. Apiston of the air cylinder can be fixedly connected with the secondcarrying member to drive a synchronous movement thereof.

In some embodiments, the second carrying member can be a plate which isprovided with a hollow portion.

In some embodiments, the second linear motion mechanism can furthercomprise a second limit switch which is disposed along the second axisdirection for sensing a moving position of the second carrying member.

In some embodiments, the second linear motion mechanism can furthercomprise a limit switch mounting plate fixedly connected with the secondguiding member. The second limit switch can be mounted on the limit,switch mounting plate.

In some embodiments, the second limit switch can be a photoelectriclimit switch, a reed switch limit switch or an inductive limit switch.

In some embodiments, the third linear motion mechanism can furthercomprise a third guiding member which is disposed in parallel to thethird axis direction. The third carrying member can be provided with athird fitting member which is fitted with the third guiding member, suchthat the third carrying member slides along the third guiding member.

In some embodiments, the third guiding member can be a rail which isdisposed in parallel to the third axis direction. The third fittingportion can be a sliding block which is fixed on a bottom of the thirdcarrying member and provided with a sliding groove having a shape fittedwith the rail. Alternatively, the third guiding member can be a guiderod which is disposed in parallel to the third axis direction. The thirdfitting portion can be a hole provided on the third carrying member. Theguide rod can penetrate through the hole and slides inside the hole.

In some embodiments, the third driving member can be a rotary motor. Thethird linear motion mechanism can further comprise a third leadscrew anda third screw nut sleeved thereon. A driving shaft of the third drivingmember can be fixedly and coaxially connected with one end of the thirdleadscrew. The third screw nut can be fixedly connected with the thirdcarrying member. The third driving member can drive a rotation of thethird leadscrew. The third leadscrew can be in a threaded fit with thethird screw nut to drive a movement thereof. The third screw nut candrive a linear translation of the third carrying member.

In some embodiments, the third linear motion mechanism can furthercomprise two guiding member mounting brackets, which are fixed on thesecond carrying member and disposed opposite to and spaced from eachother. The third driving member can be mounted at one of the two guidingmember mounting brackets. A bearing can be provided at the other one ofthe two guiding member mourning brackets. An end of the third leadscrew,which is distal from the third driving member, can be disposed in thebearing which is provided at the other one of the two guiding membermounting brackets. Two ends of the third guiding members can be fixed onthe two guiding member mounting brackets, respectively. The third screwnut can be fixed on the third carrying member.

In some embodiments, the third linear motion mechanism can furthercomprise two battery brackets for supporting the battery of the unmannedaerial vehicle. The two battery brackets can be, mounted on one of thetwo guiding member mounting brackets, which being distal from the thirddriving member, and can be disposed opposite to and spaced from eachother.

In some embodiments, one third guiding member is provided, and whereinthe third guiding member is disposed opposite to and in parallel to thethird leadscrew.

In some embodiments, the third driving member can be an air cylinderhaving a link. The link can be fixedly connected with the third carryingmember to drive a movement thereof.

In some embodiments, the third driving member can be a linear motor. Aprimary of the linear motor can be fixedly connected with the thirdcarrying member to drive a synchronous movement thereof. Alternatively,the third driving member can be an air cylinder having no link. A pistonof the air cylinder can be fixedly connected with the third carryingmember to drive a synchronous movement thereof.

In some embodiments, the third carrying member can be a plate which isprovided with a hollow portion.

In some embodiments, the third linear motion mechanism can furthercomprise a third limit switch which is disposed along the third axisdirection for sensing a moving position of the third carrying member.

In some embodiments, the third limit switch can be a photoelectric limitswitch, a reed switch limit switch or an inductive limit switch.

In some embodiments, the third linear motion mechanism can furthercomprise a third limit switch and a limit switch plate. Two ends of thelimit switch plate can be fixedly connected with the two guiding membermounting brackets respectively. The third limit switch can be mounted onthe limit switch plate.

In some embodiments, the clamp mechanism can be a vacuum suction cupclamp mechanism, a magnet clamp mechanism or a mechanical gripper clampmechanism.

In some embodiments, the battery compartment can comprise a plurality ofbattery receiving cavities which are arranged in a matrix. Each of theplurality of battery receiving cavities can have an opening which isdisposed at a side facing the battery replacement device.

In some embodiments, each of the battery receiving cavities can beprovided with a charging apparatus for charging the battery. Thecharging apparatus can charge the battery when the battery is placedinto the battery receiving cavity.

In some embodiments, the charging apparatus can be a non-contactcharging apparatus which comprises one of an electromagnetic inductivecircuit, a magnetic resonance inductive circuit and a microwaveinductive circuit.

In some embodiments, the charging apparatus can be a contact chargingapparatus which comprises a charging contactor. The charging contactorcan be provided on an inner wall of the opening of each batteryreceiving cavity. The battery can be provided with a correspondingcharging electrode in electrical contact with the charging contactor.

In some embodiments, a fastener structure can be provided on the innerwall of the opening of each battery receiving cavity. The fastenerstructure can fasten the battery to secure the battery within thebattery receiving cavity.

In some embodiments, the fastener structure can be an elastic clip, anelectric lock or an electromagnetic lock.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view showing a structure of an unmanned aerial vehicle dockaccording to an embodiment of the present disclosure;

FIG. 2 is a view showing a structure of an unmanned aerial vehicle dockhaving an unmanned aerial vehicle landed thereon according to anembodiment of the present disclosure;

FIG. 3 is a view showing a structure of the unmanned aerial vehicle dockof FIG. 2, a housing of the unmanned aerial vehicle dock being removed;

FIG. 4 is a view showing a structure of the unmanned aerial vehicle dockof FIG. 3, viewed from another angle of view;

FIG. 5 is an exploded view of the unmanned aerial vehicle dock of FIG.4;

FIG. 6 is an exploded view of a first linear motion mechanism of theunmanned aerial vehicle dock of FIG. 4;

FIG. 7 is an exploded view of a second linear motion mechanism of theunmanned aerial vehicle dock of FIG. 4;

FIG. 8 is an exploded view of a third linear motion mechanism of theunmanned aerial vehicle dock of FIG. 4;

FIG. 9 is a top view of the unmanned aerial vehicle dock of FIG. 4;

FIG. 10 is a view showing a structure of a battery compartment of theunmanned aerial vehicle, dock of FIG. 3.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described withreference to the drawings. It will be appreciated that embodiments asdescribed in the disclosure are a part rather than all of theembodiments of the present disclosure. Other embodiments, which areconceived by those having ordinary skills in the art on the basis of thedisclosed embodiments without inventive efforts, should fall within thescope of the present disclosure.

It will be appreciated that, when an element is described to be “fixedto” another element, it can be directly fixed to another element oarthrough an intermediate element. When an element is described to be“connected to” another element, it can be directly connected to anotherelement or through an intermediate element. Terms “vertical”,“horizontal”, “left”, “right” and other expressions are merely forillustrative purposes.

Unless otherwise specified, the technical terms and scientific terms asused in the disclosure have the ordinary meaning to those skilled in thetechnical fields to which the present disclosure belongs. The terms inthe disclosure are used to describe embodiments of the disclosure, withno intent to limit the disclosure. The term ‘and/or’ as used in thedisclosure includes any and all combination(s) of one or more listeditems.

The present disclosure provides an unmanned aerial vehicle dock. Theunmanned aerial vehicle dock can comprise a battery replacement deviceand a battery compartment. The battery replacement device canautomatically replace a battery of an unmanned aerial vehicle. Thebattery compartment can receive and charge the battery of the unmannedaerial vehicle.

The battery replacement device can include a clamp mechanism to graspthe battery of the unmanned aerial vehicle, and three linear motionmechanisms to adjust a position of the clamp mechanism. The three linearmotion mechanisms can create a three-dimensional Cartesian coordinatesystem. The battery can be decoupled from or coupled into a batterycompartment by the damp mechanism which is controlled by the threelinear motion mechanisms. Since the three linear motion mechanisms cancreate a three-dimensional Cartesian coordinate system, when the batteryreplacement device completes a battery replacement or ceases anoperation, the three linear motion mechanisms and the clamp mechanismcan contract and move to a side of an internal space in the unmannedaerial vehicle dock, such that the internal space in the unmanned aerialvehicle dock can be reduced to minimize a volume of the unmanned aerialvehicle dock.

In some embodiments, the unmanned aerial vehicle dock can be a grounddock. Alternatively, the unmanned aerial vehicle dock can be an aerialdock. For instance, the unmanned aerial vehicle dock can be in the airby a balloon. Alternatively, the unmanned aerial vehicle dock can be afloating dock. For instance, the unmanned aerial vehicle dock can floaton a sea surface or a lake surface by a carrier such as a ship.

In some embodiments, the ground dock can be a stationery ground dock, ora portable moving dock.

In some embodiments, the three linear motion mechanisms can create aCartesian rectangular coordinate system or a Cartesian obliquecoordinate system. For instance, if a shape of the internal space in theunmanned aerial vehicle dock is regular such as a rectangle, the threelinear motion mechanisms can create a Cartesian rectangular coordinatesystem to fit the internal space in the unmanned aerial vehicle dock,such that the internal space in the unmanned aerial vehicle dock can bereduced. If the shape of the internal space in the unmanned aerialvehicle dock is a cone and the like, the three linear motion mechanismscan create a Cartesian oblique coordinate system to fit the shape of theinternal space in the unmanned aerial vehicle dock to the greatestextent, such that the internal space in the unmanned aerial vehicle dockcan be reduced.

In some embodiments, a movement of the three linear motion mechanismscan be performed sequentially or simultaneously. For instance, amovement of the three linear motion mechanisms can be performedsequentially. For another instance, a movement of two linear motionmechanisms can be performed simultaneously. For still another instance,a movement of the three linear motion mechanisms can be formedsimultaneously. If a movement of the three linear motion mechanisms isperformed simultaneously, a translational movement of the three linearmotion mechanisms can complete simultaneously. In other words,S1/V1=S2V2=S3/V3, where S1, S2, S3 are respectively translationaldisplacement of the three linear motion mechanisms, and V1, V2, V3 arerespectively translational velocity of the three linear motionmechanisms. Optionally, a translational movement of the three linearmotion mechanisms complete sequentially. For example, S1/V1=S2/V2<S3/V3,where S3 can be a displacement of the clamp mechanism towards thebattery compartment.

In some embodiments, the three linear motion mechanisms can create theCartesian coordinate system on a base plate in a positive sequence or anegative sequence.

For instance, the three linear motion mechanisms can comprise an X-axisstructure, a Y-axis structure and a Z-axis structure. The X-axisstructure and the Y-axis structure can respectively adjust a movementalong two coordinates which are in parallel to the base plate, and theZ-axis structure can adjust a movement along a coordinate which isperpendicular to the base plate. The X-axis structure can be disposed onthe base plate, the Z-axis structure can be disposed on the X-axisstructure, and the Y-axis structure can be disposed on the Z-axisstructure. Alternatively, the X-axis structure can be disposed on thebase plate, the Y-axis structure can be disposed on the X-axisstructure, and the Z-axis structure can be disposed on the Y-axisstructure. Still alternatively, the Z-axis structure can be disposed onthe base plate, the X-axis structure can be disposed on the Z-axisstructure, and the Y-axis structure can be disposed on the X-axisstructure.

Embodiments of the present disclosure will be described with referenceto the appended drawings.

Referring to FIG. 1, an unmanned aerial vehicle dock 10 according toembodiment one of the present disclosure can comprise a base plate 10 a,a battery replacement device 10 b and a battery compartment 110 c. Thebattery replacement device 10 b can be mounted on the base plate 10 aand replace a battery of an unmanned aerial vehicle. The batterycompartment 10 c can receive and charge a battery of the unmanned aerialvehicle.

The battery replacement device 10 b can comprise a first linear motionmechanism 11, a second linear motion mechanism 12, a third linear motionmechanism 13 and a clamp mechanism 14. The clamp mechanism 14 can graspthe battery. The first linear motion mechanism 11 can drive andtranslate the clamp mechanism 10 in a first axis direction X. The secondlinear motion mechanism 12 can drive and translate the clamp mechanism14 in a second axis direction Y. The third linear motion mechanism 13can drive and translate the clamp mechanism 14 in a third axis directionZ. In some embodiments, the first axis direction X, the second axisdirection Y and the third axis direction Z can build a three-dimensionalCartesian coordinate system. A coordinate position of the clampmechanism 14 in the three-dimensional Cartesian coordinate system can beadjusted by the first linear motion mechanism 11, the second linearmotion mechanism 12 and the third linear motion mechanism 13.

The first linear motion mechanism 11, the second linear motion mechanism12 and the third linear motion mechanism 13 can operate synchronously.Optionally, the first linear motion mechanism 11, the second linearmotion mechanism 12 and the third linear motion mechanism 13 can operateseparately. For instance, in the illustrated embodiment, the firstlinear motion mechanism 11, the second linear motion mechanism 12 andthe third linear motion mechanism 13 can operate sequentially.Optionally, at least two of the first linear motion mechanism 11, thesecond linear motion mechanism 12 and the third linear motion mechanism12 can operate simultaneously.

The Cartesian coordinate system can be a rectangular coordinate system.Optionally, the Cartesian coordinate system can be an oblique coordinatesystem. An appropriate coordinate system can be determined based on ashape of an internal space of the unmanned aerial vehicle dock 10. Forinstance, if the internal space in the unmanned aerial vehicle dock 10is a cubic, a Cartesian rectangular coordinate system can be built;thereby the internal space in the unmanned aerial vehicle dock 10 cartbe reduced. If the internal space in the unmanned aerial vehicle dock 10is a pyramid or a similar shape, a Cartesian oblique coordinate systemcan be built; thereby the internal space in the unmanned aerial vehicledock 10 can be reduced.

A specific structure of the first linear motion mechanism 11 can bedetermined based on actual requirements. For instance, the first linearmotion mechanism 11 can be a rotary motor-driven linear motionmechanism, a belt linear motion mechanism, an air cylinder-driven linearmotion mechanism or a linear motor-driven linear motion mechanism. In arotary motor-driven linear motion mechanism, a leadscrew can be drivenby a rotary motor to rotate. A screw nut can be sleeved on the leadscrewand be in a threaded fit with the leadscrew. The screw nut can be drivento move linearly, and then drive a movement of a carried object. In abelt linear motion mechanism, a belt can be driven by a belt pulley. Acarried object, which is fixed on the belt, can move synchronously withthe belt. In an air cylinder-driven linear motion mechanism, a carriedobject can be driven by an air cylinder. For instance, the air cylindercan be an air cylinder provided with a retractable link. The retractablelink can drive a movement of the carried object. For another instance,the air cylinder can be an air cylinder having no link. A carried objectcan be connected to and driven by a piston of the air cylinder, suchthat the carried object can move synchronously with the piston. In alinear motor-driven linear motion mechanism, a movement of a carriedobject can be driven by a primary of the linear motor synchronously.

A specific structure of the second linear motion mechanism 12 can bedetermined based on actual requirements. For instance, the second linearmotion mechanism 12 can be a rotary motor-driven linear motionmechanism, a belt linear motion mechanism, an air cylinder-driven linearmotion mechanism or a linear motor-driven linear motion mechanism. Anoperational principle of the rotary motor-driven linear motionmechanism, the belt linear motion mechanism, the air cylinder-drivenlinear motion mechanism or the linear motor-driven linear motionmechanism is described hereinabove.

A specific structure of the third linear motion mechanism 13 can bedetermined based on actual requirements. For instance, the third linearmotion mechanism 13 can be a rotary motor-driven linear motionmechanism, a belt linear motion mechanism, an air cylinder-driven linearmotion mechanism or a linear motor-driven linear motion mechanism. Anoperational principle of the rotary motor-driven linear motionmechanism, the belt linear motion mechanism, the air cylinder-drivenlinear motion mechanism or the linear motor-driven linear motionmechanism is described hereinabove.

A specific structure of the first linear motion mechanism 11, the secondlinear motion mechanism 12 and the third linear motion mechanism 13 canbe identical or not. For instance, the first linear motion mechanism 11and the second linear motion mechanism 12 can be the linear motor-drivenlinear motion mechanism, while the third linear motion mechanism 13 canbe the rotary motor-driven linear motion mechanism. Alternatively, thefirst linear motion mechanism 11, the second linear motion mechanism 12and the third linear motion mechanism 13 can each be the rotarymotor-driven linear motion mechanism.

The clamp mechanism 14 can be a vacuum suction cup clamp mechanism, amagnet clamp mechanism or a mechanical gripper damp mechanism. In avacuum suction cup clamp mechanism, a battery of the unmanned aerialvehicle can be held by a vacuum suction cup. When gripping the batteryof the unmanned aerial vehicle, an air cylinder in air communicationwith the vacuum suction cup can operate to expel an air in the vacuumsuction cup; and when releasing the battery of the unmanned aerialvehicle, the air cylinder in air communication with the vacuum suctioncup can cease an operation blow up the vacuum suction cup. In a magnetclamp mechanism, an iron member of the battery of the unmanned aerialvehicle can be attracted by an electrical magnet. When the magnet clampmechanism grips the battery of the unmanned aerial vehicle, theelectrical magnet can be powered on; and when the magnet clamp mechanismreleases the battery of the unmanned aerial vehicle, the electricalmagnet can be powered off in a mechanical gripper clamp mechanism, thebattery of the unmanned aerial vehicle can be grasped by a clampstructure which is similar to human fingers.

A position relationship of the first linear motion mechanism 11, thesecond linear motion mechanism 12 and the third linear motion mechanism13 can be determined based on actual requirements. For instance, in someembodiments, the clamp mechanism 14 can be provided on the third linearmotion mechanism 13. The third linear motion mechanism 13 can bedisposed on the second linear motion mechanism 12, the second linearmotion mechanism 12 can be disposed on the first linear motion mechanism11, and the first linear motion mechanism 11 can be disposed on the baseplate 10 a. The third linear motion mechanism 13 and the first linearmotion mechanism 11 can move in parallel to the base plate 10 a, and thesecond linear motion mechanism 12 can move to approach or leave the baseplate 10 a.

Alternatively, the clamp mechanism 14 can be provided on the thirdlinear motion mechanism 13. The third linear motion mechanism 13 can bedisposed on the second linear motion mechanism 12, the second linearmotion mechanism 12 can be disposed on the first linear motion mechanism11, and the first linear motion mechanism 11 can be disposed on the baseplate 10 a. The second linear motion mechanism 12 and the first linearmotion mechanism 11 can move in parallel to the base plate 10 a, and thethird linear motion mechanism 13 can move to approach or leave the baseplate 10 a.

Alternatively, the clamp a mechanism 14 can be provided on the thirdlinear motion mechanism 13. The third linear motion mechanism 13 can bedisposed on the second linear motion mechanism 12, the second linearmotion mechanism 12 can be disposed on the first linear motion mechanism11, and the first linear motion mechanism 11 can be disposed on the baseplate 10 a. The third linear motion mechanism 13 and the second linearmotion mechanism 12 can move in parallel to the base plate 10 a, and thefirst linear motion mechanism 11 can move to approach or leave the baseplate 10 a.

A specific structure of the battery compartment 10 c can be determinedbased on actual requirements. For instance, in some embodiments, thebattery compartment 10 c can comprise a plurality of battery receivingcavities which are arranged in a matrix. Each battery receiving cavitycan have an opening, which is disposed at a side facing the batteryreplacement device 10 b.

Each battery receiving cavity can be provided with a charging apparatusfor charging a battery. The charging apparatus can charge the battery ifthe battery is placed into the battery receiving cavity.

The charging apparatus can be a non-contact charging apparatus.Alternatively, the charging apparatus can be a contact chargingapparatus. For instance, in some embodiments, the charging apparatus canbe a non-contact charging apparatus which comprises one of anelectromagnetic inductive circuit, a magnetic resonance inductivecircuit and a microwave inductive circuit. Optionally, the chargingapparatus can be a contact charging apparatus which comprises a chargingcontact. The charging contact can be provided on an inner wall of anopening of each battery receiving cavity. The battery can be providedwith a corresponding charging electrode in electrical contact with thecharging contactor.

A fastener structure can be provided on an inner wall of the opening ofeach battery receiving cavity. The fastener structure can fasten thebattery to secure the battery within the battery receiving cavity.

The fastener structure can be an elastic clip, an electric lock or anelectromagnetic lock. In an elastic clip, an Outer gall of the batterycan be fastened by an elastic clip. The battery can be drawn from orinserted into the battery receiving cavity of the battery compartment 10c by applying an external force onto the battery such that battery abutsagainst and deform the elastic clip. In an electric lock, a drivingmember can be controlled by a switch circuit to drive a lock to abutagainst the outer wall of the battery. When gripping the battery, theswitch circuit can power on the driving member to abut the lock againstthe battery. When releasing the battery, the switch circuit can poweroff the driving member to separate the lock from the battery. In anelectromagnetic lock, the battery can be held by an electromagnet whichattracts an iron member of the battery. The electromagnet can be poweredoff when taking the battery out from the battery receiving cavity of thebattery compartment 10 c.

The unmanned aerial vehicle dock 10 consistent with the presentdisclosure is advantageous over conventional art.

According to an aspect, the battery replacement device 10 b of theunmanned aerial vehicle dock 10 comprises three linear motion mechanismswhich build a Cartesian coordinate system. The clamp mechanism 14 can bedriven by the three linear motion mechanisms to place a battery of anunmanned aerial vehicle into the battery compartment 10 c or take abattery of an unmanned aerial vehicle out from the battery compartment10 c, without employing a rotary battery compartment 10 c which occupiesa larger volume. When the battery replacement device 10 b completes abattery replacement or ceases an operation, the battery replacementdevice 10 b can move to a side of the internal space in the unmannedaerial vehicle dock 10 by a translational movement of the three linearmotion mechanisms and then contracted, such that the internal space inthe unmanned aerial vehicle dock 10 can be reduced. The batteryreplacement device 10 b of the unmanned aerial vehicle dock 10consistent with the present disclosure has a compact structure andsmaller volume; thereby the unmanned aerial vehicle dock 10 can beminimized.

According to another aspect, the battery replacement device 10 b of theunmanned aerial vehicle dock 10 consistent with the present disclosurecomprises three linear motion mechanisms which build a Cartesiancoordinate system. A battery of an unmanned aerial vehicle can bedirectly inserted into the battery compartment 10 c without a need ofadjusting an orientation of the battery by an additional driving means.The battery replacement device 10 b of the unmanned aerial vehicle dock10 consistent with the present disclosure has a simpler structure and alower cost than a conventional battery replacement device.

Referring to FIGS. 2-5, an unmanned aerial vehicle dock 100 according toan embodiment of the present disclosure can comprise a base plate 100 a,a battery replacement device 100 b and a battery compartment 100 e (asshown in FIG. 10). The battery replacement device 100 b can be mountedon the base plate 100 a for replacing a battery of an unmanned aerialvehicle. The battery compartment 100 c can receive and charge thebattery 201 of the unmanned aerial vehicle 200.

The battery replacement device 100 b can comprise a first linear motionmechanism 110, a second linear motion mechanism 120, a third linearmotion mechanism 130 and a clamp mechanism 140. The first linear motionmechanism 110, the second linear motion mechanism 120 and the thirdlinear motion mechanism 130 can operate synchronously. Optionally, thefirst linear motion mechanism 110, the second linear motion mechanism120 and the third linear motion mechanism 130 can operate separately.For instance, in the illustrated embodiments, the first linear motionmechanism 110, the second linear motion mechanism 120 and the thirdlinear motion mechanism 130 can operate sequentially. In someembodiments, at least two of the first linear motion mechanism 110, thesecond linear motion mechanism 120 and the third linear motion mechanism130 can move simultaneously.

In some embodiments, the clamp mechanism 140 can be provided on thethird linear motion mechanism 130. The third linear motion mechanism 130can be disposed on the second linear motion mechanism 120, the secondlinear motion mechanism 120 can be disposed on the first linear motionmechanism 110, and the first linear motion mechanism 110 can be disposedon the base plate 100 a. In some embodiments, the third linear motionmechanism 130 and the first linear motion mechanism 110 can moveparallel to the base plate 100 a, and the second linear motion mechanism120 can move to approach or leave the base plate 100 a.

A specific structure of the first linear motion mechanism 110 can bedetermined based on actual requirements. For instance, the first linearmotion mechanism 110 can be a rotary motor-driven linear motionmechanism, a belt linear motion mechanism, an air cylinder-driven linearmotion mechanism or a linear motor-driven linear motion mechanism. In arotary motor-driven linear motion mechanism, a leadscrew can be drivenby a rotary motor to rotate. A screw nut can be sleeved on the leadscrewand be in a threaded fit with the leadscrew. The screw taut can bedriven to move linearly, and then drive a movement of a carried object.In a belt linear motion mechanism, a belt can be driven by a beltpulley. A carried object, which is fixed on the belt, can movesynchronously with the belt. In an air cylinder-driven linear motionmechanism, a carried object can be driven by an air cylinder. Forinstance, the air cylinder can be an air cylinder provided with aretractable link. The retractable link can drive a movement of thecarried object. For another instance, the air cylinder can be an aircylinder having no link. A carried object can be connected to and drivenby a piston of the air cylinder, such that the carried object can movesynchronously with the piston. In a linear motor-driven linear motionmechanism, a movement of a carried object can be driven by a primary ofthe linear motor synchronously.

Referring to FIG. 6, in the illustrated embodiments, the first linearmotion mechanism 110 can comprise a first driving member 111 and a firstcarrying member 113. The first driving member 111 can drive the firstearring member 113 to move along a first axis direction.

The first driving member 111 can be an air cylinder or a motor. Forinstance, in the illustrated embodiments, the first driving member 111can be a rotary motor. The first linear motion mechanism 110 cancomprise a first leadscrew 114 and a first screw nut 115 which issleeved on the first leadscrew 114. A driving shaft of the first drivingmember 111 can be fixedly and coaxially connected with one end of thefirst leadscrew 114. The first screw nut 115 can be fixedly connectedwith the first carrying member 113. In some embodiments, the firstdriving member 111 can drive a rotation of the first leadscrew 114. Thefirst leadscrew 114 can be in a threaded fit with the first screw nut115 to drive a linear movement of the first screw nut 115, which drivesa linear translation of the first carrying member 113.

In some embodiments, the first linear motion mechanism 110 can alsocomprise a leadscrew seat 116 a and two motor brackets 116 b. Theleadscrew seat 116 a is provided with a bearing. An end of the firstleadscrew 114, which is distal from the first driving member 111, can bedisposed in a bearing of the leadscrew seat 116 a The two motor brackets116 b can be fixed on the base plate 100 a and disposed opposite to andspaced from each other. A mounting tab 111 a can be provided at each ofthe opposite ends of the first driving member 111. The two mounting tabs111 a can be fixed with the two motor brackets 116 b respectively to fixthe first driving member 111 on the base plate 100 a. The first screwnut 115 can be fixed on the first carrying member 113.

In some embodiments, the first driving member 111 can be an air cylinderprovided with a link. The link can be fixedly connected with the firstcarrying member 113 to drive a movement of the first carrying member113.

The first linear motion mechanism 110 can comprise a first guidingmember 117 which is disposed in parallel to the first axis direction, soas to improve a stability of the first carrying member 113 intranslating. The first carrying member 113 can be provided with a firstfitting portion 113 a which is fitted with the first guiding member 117,such that the first carrying member 113 can slide along the firstguiding member 117.

A specific structure of the first guiding member 117 can be determinedbased on actual requirements. For instance, in the illustratedembodiments, the first guiding member 117 can be a rail which isdisposed in parallel to the first axis direction. The first fittingportion 113 a can be a sliding block fixed on a bottom of the firstcarrying member 113. The sliding block can be provided with a slidinggroove having a shape fitted with the rail.

Optionally, the first guiding, member 117 can be a guide rod which isdisposed in parallel to the first axis direction. The first fittingportion 113 a can be a hole provided on the first carrying member 113.The guide rod can penetrate through the hole and slide inside the hole.

In some embodiments, two first guiding members 117 can be provided. Thetwo guiding members 117 can be disposed at two sides of the firstleadscrew 114 and in parallel to the first leadscrew 114, respectively.It will be apparent that, the number of the first guiding members 117 isnot limited to two, and can be one, three, or more than three.

It will be apparent that, the first guiding member 117 can be omittedfrom the structure, as long as a stability of the first carrying member113 in translating meets the actual requirements. For instance, in someembodiments, the first driving member 111 can be a linear motor. Aprimary of the first driving member 111 can be fixedly connected withthe first carrying member 113 to drive a synchronous movement thereof.Alternatively, the first driving member 111 can be an air cylinderhaving no link. The piston of the air cylinder can be fixedly connectedwith the first carrying member 113 to drive a synchronous movementthereof.

A specific structure of the first carrying member 113 can be determinedbased on actual requirements. For instance, in the illustratedembodiments, the first carrying member 113 can be a plate provided witha hollow portion. A weight of the plate can be reduced by providing thehollow portion on the plate, without significantly reducing a structuralstrength of the plate.

The first linear motion mechanism 110 can comprise a first limit switch118 which is disposed along a first axis direction. The first limitswitch 118 can sense a moving position of the first carrying member 113.

The first limit switch 118 can be a photoelectric limit switch, a reedswitch limit switch, an inductive limit switch and the like.

The second linear motion mechanism 120 can be provided on the firstcarrying member 113. A specific structure of the second linear motionmechanism 120 can be determined based on actual requirements. Forinstance, the second linear motion mechanism 120 can be a rotarymotor-driven linear motion mechanism, a belt linear motion mechanism, anair cylinder-driven linear motion mechanism or a linear motor-drivenlinear motion mechanism. An operational principle of the rotarymotor-driven linear motion mechanism, the belt linear motion mechanism,the air cylinder-driven linear motion mechanism and the linearmotor-driven linear motion mechanism are described hereinabove.

Referring to FIG. 7, in the illustrated embodiments, the second linearmotion mechanism 120 can comprise a second driving member 121 and asecond carrying member 123. The second driving member 121 can drive thesecond carrying member 123 to move along a second axis direction.

The second driving member 121 can be an air cylinder or a motor. Forinstance, in the illustrated embodiments, the second driving member 121can be a rotary motor. The second linear motion mechanism 120 cancomprise a second leadscrew 124 and a second screw nut 125 which issleeved on the second leadscrew 124. A driving shaft of the seconddriving member 121 can be fixedly and coaxially connected with one endof the second leadscrew 124. The second screw nut 125 can be fixedlyconnected with the second carrying member 123. In some embodiments, thesecond driving member 121 can drive a rotation of the second leadscrew124 The second leadscrew 124 can be in a threaded fit with the secondscrew nut 125 to drive a linear movement of the second screw nut 125,which drives a linear translation of the second carrying member 123.

In some embodiments, the second linear motion mechanism 120 can comprisea motor mounting plate 126 on which a second driving member 121 can befixed. The motor mounting plate 126 can be fixed on the first carryingmember 113 by a threaded fastener (not shown). The second screw nut 125can be fixed on the second carrying member 123.

In some embodiments, the second driving member 121 can be an aircylinder provided with a link. The link can be fixedly connected withthe second carrying member 123 to drive a movement thereof.

The second linear motion mechanism 120 can comprise a second guidingmember 127 which is disposed in parallel to a second axis direction, soas to improve a stability of the second carrying member 123 intranslating. A second fitting portion 123 a, which is fitted with thesecond guiding member 127, can be provided on the second carrying member123. The second carrying member 123 can slide along the second guidingmember 127.

A specific structure of the second guiding member 127 can be determinedbased on actual requirements. For instance, in the illustratedembodiments, the second guiding member 127 can be a rail which isdisposed in parallel to the second axis direction. The second fittingportion 123 a can be a sliding block fixed on a bottom of the secondcarrying member 123. The sliding block can be provided with a slidinggroove having a shape fitted with the rail in shape.

Optionally, the second guiding member 127 can be a guide rod which isdisposed in parallel to a second axis direction. The second fittingportion 123 a can be a hole provided on the second carrying member 123.The guide rod can penetrate through the hole and slide inside the hole.

In some embodiments, two second guiding members 127 can be provided. Thetwo guiding members 127 can be disposed at two sides of the secondleadscrew 124 and disposed parallel to the second leadscrew 124,respectively. It will be apparent that, the number of the second guidingmembers 127 is not limited to two, and can be one, three or more thanthree.

It will be apparent that, the second guiding member 127 can be omittedfrom the structure, as long as a stability of the second carrying member123 in translating meets the actual requirements. For instance, in someembodiments, the second driving member 121 can be a linear motor. Aprimary of the second driving member 121 can be fixedly connected withthe second carrying member 123 to drive a synchronous movement thereof.Alternatively, the second driving member 121 can be an air cylinderhaving no link. The piston of the air cylinder can be fixedly connectedwith the second carrying member 123 to drive a synchronous movementthereof.

A specific structure of the second carrying member 123 can be determinedbased on actual requirements. For instance, in the illustratedembodiments, the second carrying member 123 can be a plate provided witha hollow portion. The weight of the plate can be reduced by providingthe hollow portion on the plate, without significantly reducing astructural strength of the plate.

The second linear motion mechanism 120 can also comprise a second limitswitch 128 a which is disposed along a second axis direction. The secondlimit switch 128 a can sense a moving position of the second carryingmember 123. In some embodiments, the second linear motion mechanism 120can comprise a limit switch mounting plate 128 b which is fixedlyconnected with the second guiding member 127. The second switch 128 acan be mounted on the limit switch mounting plate 128 b.

The second limit switch 128 a can be a photoelectric limit switch, areed switch limit switch, an inductive limit switch and the like.

The third linear motion mechanism 130 can be provided on the secondcarrying member 123. A specific structure of the third linear motionmechanism 130 can be determined based on actual requirements. Forinstance, the third linear motion mechanism 130 can be a rotarymotor-driven linear motion mechanism, a belt linear motion mechanism, anair cylinder-driven linear motion mechanism or a linear motor-drivenlinear motion mechanism. An operational principle of the rotarymotor-driven linear lotion mechanism, the belt linear motion mechanism,the air cylinder-driven linear motion mechanism and the linearmotor-driven linear motion mechanism are described hereinabove.

Referring to FIG. 8, in the illustrated embodiments, the third linearmotion mechanism 130 can comprise a third driving member 131 and a thirdcarrying member 133. The third driving member 131 can drive the thirdcarrying member 133 to move along a third axis direction. In someembodiments, the first axis direction, the second axis direction and thethird axis direction can build a three-dimensional Cartesian coordinatesystem.

It will be apparent that, the three-dimensional Cartesian coordinatesystem can be a rectangular coordinate system or an oblique coordinatesystem. An appropriate coordinate system can be built based on aninternal space of an unmanned aerial vehicle dock 100. For instance, ifthe internal space in the unmanned aerial vehicle dock 100 is a cubic, aCartesian rectangular coordinate system can be built; thereby theinternal space in the unmanned aerial vehicle dock 100 can be reduced.If the internal space in the unmanned aerial vehicle dock 100 is apyramid or the like, a Cartesian oblique coordinate system can be built;thereby the internal space in the unmanned aerial vehicle dock 100 canbe reduced.

The third driving member 131 can be an air cylinder or a motor. Forinstance, in the illustrated embodiments, the third driving member 131can be a rotary motor. The third linear motion mechanism 130 cancomprise a third leadscrew 134 and a third screw nut 135 which issleeved on the third leadscrew 134. A driving shaft of the third drivingmember 131 can be fixedly and coaxially connected with one end of thethird leadscrew 134. The third screw nut 135 can be fixedly connectedwith the third carrying member 133. In some embodiments, the thirddriving member 131 can drive a rotation of the third leadscrew 134. Thethird leadscrew 134 can be in a threaded fit with the third screw nut135 to drive a movement of the third screw nut 135. The third screw nut135 can drive a linear translation of the third carrying member 133.

In some embodiments, the third driving member 131 can be an air cylinderprovided with a link. The link can be fixedly connected with the secondcarrying member 123 to drive a movement thereof.

The third linear motion mechanism 130 can comprise a third guidingmember 137 which is disposed in parallel to a third axis direction, soas to improve a stability of the third carrying member 133 intranslating. A third fitting portion 133 a, which is fitted with thethird guiding member 137, can be provided on the third carrying member133. The third carrying member 133 can slide along the third guidingmember 137.

A specific structure of the third guiding member 137 can be determinedbased on actual requirements. For instance, in the illustratedembodiments, the third guiding member 137 can be a rail which isdisposed in parallel to the third axis direction. The third fittingportion 133 a can be a sliding block fixed on the bottom of the thirdcarrying member 133. The sliding block can be provided with a slidinggroove having a shape fitted with the rail in shape.

Optionally, the third guiding member 137 can be a guide rod which isdisposed in parallel to a third axis direction. The third fittingportion 133 a can be a hole provided on the third carrying member 133.The guide rod can penetrate through the hole and slide inside the hole.

In some embodiments, one third guiding member 137 can be provided. Thethird guiding member 137 can be disposed opposite to the third leadscrew134 and in parallel to the third leadscrew 134. It will be apparentthat, the number of the third guiding members 137 can be two or morethan two.

It will be apparent that, the third linear motion mechanism 130 cancomprise two guiding member mounting brackets 136 a which are fixed onthe second carrying member 123 and disposed opposite to and spaced fromeach other. The third driving member 131 can be mounted at one of thetwo guiding member mounting brackets 136 a. A bearing can be provided atthe other once of the two guiding member mounting brackets 136 a. Oneend of the third leadscrew 134, which is distal from the third drivingmember 131, can be disposed in a bearing which is provided on the otherone of the two guiding member mounting brackets 136 a. Two ends of thethird guiding member 137 can be fixed on the two guiding member mountingbrackets 136 a, respectively. The third screw nut 135 can be fixed onthe third carrying member 133.

The third linear motion mechanism 130 can comprise a carrying memberbracket 136 b. The third carrying member 133 can be fixedly connectedwith the third screw nut 135 through the carrying member bracket 136 b.In the illustrated embodiments, the carrying member bracket 136 b can bea first U-shaped bracket. The third carrying member 133 can be fixed attwo ends of the first U-shaped bracket. The third screw nut 135 can bedisposed at outer side of a bottom of the first U-shaped bracket.

The third linear motion mechanism 130 can comprise a screw nut bracket136 c. The third screw nut 135 can be fixedly connected with thecarrying member bracket 136 b through the screw nut bracket 136 c. Inthe illustrated embodiments, the screw nut bracket 136 c can be a secondU-shaped bracket. The screw nut can penetrate a bottom of the secondU-shaped bracket. The two ends of an opening of the second U-shapedbracket can be fixedly connected with the two opposite sides of thebottom of the first U-shaped bracket respectively. The third guidingmember 137 can penetrate through a closed space which is formed by thesecond U-shaped bracket and the first U-shaped bracket.

It will be apparent that, the third guiding member 137 can be omittedfrom the structure, as long as a stability of the third carrying member133 when translating meets actual requirements. For instance, in someembodiments, the third driving member 131 can be a linear motor. Aprimary of the linear motor can be fixedly connected with the thirdcarrying member 133 to drive a synchronous movement thereof.

Alternatively, the third driving member 131 can be an air cylinderhaving no link. The piston of the air cylinder can be fixedly connectedwith the third carrying member 133 to drive a synchronous movementthereof. A specific structure of the third carrying member 133 can bedetermined based on actual requirements. For instance, in theillustrated embodiments, the third carrying member 133 can be a plateprovided with a hollow portion. A weight of the plate can be reduced byproviding the hollow portion on the plate, without significantlyreducing a structural strength of the plate.

The third linear motion mechanism 130 can comprise a third limit switch138 a which is disposed along a third axis direction. The third limitswitch 138 a can sense a moving position of the third carrying member133. In some embodiments, the third linear motion mechanism 130 cancomprise a limit switch plate 138 b. Two ends of the limit switch plate138 b can be fixedly connected with the two guiding member mountingbrackets 136 a, respectively. The third limit switch 138 a can bemounted on the limit switch plate 138 b.

The third limit switch 138 a can be a photoelectric limit switch, a reedswitch limit switch, an inductive limit switch and the like.

The third linear motion mechanism 130 can comprise two battery brackets139 for supporting a battery 201 of an unmanned aerial vehicle 200. Insome embodiments, the two battery brackets 139 can be mounted on theguiding member mounting bracket 136 a distal from the third drivingmember 131. The two battery brackets 139 can be disposed opposite to andspaced from each other.

The clamp mechanism 140 can be mounted on the third carrying member 133for gripping the battery 201. A coordinate position of the clampmechanism 140 in a three-dimensional Cartesian coordinate system can beadjusted by the fast driving member 111, the second driving member 121and the third driving member 131, respectively.

It will be apparent that, a position relationship of the first linearmotion mechanism 110, the second linear motion mechanism 110 and thethird linear motion mechanism 130 can be set based on actualrequirements. The position relationship is limited by in the illustratedembodiments.

Referring to FIG. 9, in some embodiments, the clamp mechanism 140 can beprovided on the third linear motion mechanism 130. The third linearmotion mechanism 130 can be disposed on the second linear motionmechanism 120, the second linear motion mechanism 120 can be disposed onthe first linear motion mechanism 110, and the first linear motionmechanism 110 can be disposed on the base plate 100 a. The second linearmotion mechanism 120 and the first linear motion mechanism 110 can movein parallel to the base plate 100 a, and the third linear motionmechanism 130 can be moved to approach or leave the base plate 100 a.

Alternatively, the clamp mechanism 140 can be provided on the thirdlinear motion mechanism 130. The third linear motion mechanism 130 canbe disposed on the second linear motion mechanism 120, the second linearmotion mechanism 120 can be disposed on the first linear motionmechanism 110, and the first linear motion mechanism 110 can be disposedon the base plate 100 a. The third linear motion mechanism 130 and thesecond linear motion mechanism 120 can move in parallel to the baseplate 100 a, and the first linear motion mechanism 100 can move toapproach Of leave the base plate 100 a.

The clamp mechanism 140 can be a vacuum suction cup clamp mechanism, amagnet clamp mechanism or a mechanical gripper clamp mechanism. In avacuum suction cup clamp mechanism, a battery 201 of the unmanned aerialvehicle 200 can be held in by a vacuum suction cup. When gripping thebattery 201 of the unmanned aerial vehicle 200, an air cylinder in aircommunication with the vacuum suction cup can operate to expel an air inthe vacuum suction cup; and when releasing the battery 201 of theunmanned aerial vehicle 200, the air cylinder in air communication withthe vacuum suction cup can cease an operation blow up the vacuum suctioncup. In a magnet clamp mechanism, an iron member made of the battery 201of the unmanned aerial vehicle 200 can be attracted by an electricalmagnet When the magnet clamp mechanism grips the battery 201 of theunmanned aerial vehicle 200, the electrical magnet can be powered on;and when the magnet clamp mechanism releases the battery 201 of theunmanned aerial vehicle 200, the electrical magnet can be powered off Ina mechanical gripper clamp mechanism, the battery 201 of the unmannedaerial vehicle 200 can be grasped by a clamp structure which is similarto human fingers.

A specific structure of the battery compartment 100 c can be determinedbased on actual requirements. For instance, as shown in FIG. 10, in someembodiments, the battery compartment 100 c can comprise a plurality ofbattery receiving cavities 102 which are arranged in a matrix. Theplurality of battery receiving cavities 102 can each have an opening(not shown) which is disposed at a side facing the battery replacementdevice 100 b.

Each of the plurality of battery receiving cavities 102 can be providedwith a charging apparatus for charging the battery 201. When the battery201 is placed into the battery replacement receiving cavity 102, thecharging apparatus can charge the. battery 201.

The charging apparatus can be a non-contact charging apparatus.Alternatively, the charging apparatus can be a contact chargingapparatus. For instance, in some embodiments, the charging apparatus canbe a contact charging apparatus which comprises a charging contactor103. The charging contactor 103 can be provided on an inner wall of anopening of each battery receiving cavity 102. The battery 201 can beprovided with a corresponding charging electrode (not shown) inelectrical contact with the charging contactor 103.

Alternatively, the charging apparatus can be a non-contact chargingapparatus which comprises one of an electromagnetic inductive circuit, amagnetic resonance inductive circuit and a microwave inductive circuit.

A fastener structure 104 can be provided on an inner wall of the openingof each battery receiving cavity 102. The fastener structure 104 canfasten the battery 201 to secure the battery 201 within the batteryreceiving cavity 102.

The fastener structure 104 can be an elastic clip, an electric lock oran electromagnetic lock. In an elastic clip, an outer wall of thebattery 201 can be fastened by an elastic clip. The battery 201 can bedrawn from or inserted into the battery receiving cavity 102 of thebattery compartment 100 c by applying an external force onto the battery201 such that battery 201 abuts against and deform the elastic clip. Inan electric lock, an electric lock can be controlled by a switch circuitto abut against the outer wall of the battery 201. When gripping thebattery 201, the switch circuit can power on the electric lock to abutthe electric lock against the battery 201. When releasing the battery201, the switch circuit can power off the electric lock to separate theelectric lock from the battery 201. In an electromagnetic lock, thebattery 201 can be gripped by an electromagnet which attracts an ironmember of the battery 201. The electromagnet can be powered off whentaking the battery 201 out from the battery receiving cavity 102 of thebattery compartment 100 c.

The unmanned aerial vehicle dock 100 consistent with the presentdisclosure are advantageous over conventional art.

According to an aspect, the battery replacement device 100 b of theunmanned aerial vehicle dock 100 comprises three linear motionmechanisms which build a Cartesian coordinate system. The clampmechanism 140 can be driven by the three linear motion mechanisms toplace a battery of an unmanned aerial vehicle 200 into the batterycompartment 100 c or take a battery of an unmanned aerial vehicle 200out from the battery compartment 100 c, without employing a rotarybattery compartment 100 c which occupies a larger volume. When thebattery replacement device 100 b completes a battery replacement orceases an operation, the battery replacement device 100 b can move to aside of the internal space in the unmanned aerial vehicle dock 100 by atranslational movement of the three linear motion mechanisms and thencontracted, such that the internal space in the unmanned aerial vehicledock 100. Therefore, the battery replacement device 100 b of theunmanned aerial vehicle dock 100 can be reduced. The battery replacementdevice 100 b of the unmanned aerial vehicle dock 100 consistent with thepresent disclosure has a compact structure and smaller volume; therebythe unmanned aerial vehicle dock 100 can be minimized.

According to another aspect, the battery replacement device 100 b of theunmanned aerial vehicle dock 100 consistent with the present disclosurecomprises three linear motion mechanisms which build a Cartesiancoordinate system. The battery 201 of an unmanned aerial vehicle 200 canbe directly inserted into the battery compartment 100 c without a needof adjusting an orientation of the battery 201 by an additional drivingmeans. The battery replacement device 100 b of the unmanned aerialvehicle dock 100 consistent with the present disclosure has simplerstructure and a lower cost than a conventional battery replacementdevice.

According to still another aspect, the battery replacement device 100 bof the unmanned aerial vehicle dock 100 consistent with the presentdisclosure comprises three independent driving members for driving threecarrying members respectively. Two of the three carrying members cancarry two linear motion mechanisms, and the other one of the threecarrying members can carry the clamp mechanism 140. The three carryingmembers can translate independently, such that a stability andflexibility of thee clamp mechanism 140 in moving operation is improved.

The foregoing disclosure is merely illustrative of the embodiments ofthe disclosure but not intended to limit the scope of the disclosure.Any equivalent modifications to a structure or process flow, which aremade without departing from the specification and the drawings of thedisclosure, and a direct or indirect application in other relevanttechnical fields, shall also fall into the scope of the disclosure.

What is claimed is:
 1. An unmanned aerial vehicle dock, comprising: abase plate; a battery replacement device for replacing a battery of anunmanned aerial vehicle, the battery replacement device comprising afirst linear motion mechanism, a second linear motion mechanism, a thirdlinear motion mechanism and a clamp mechanism; wherein the first linearmotion mechanism is mounted on the base plate and comprises a firstdriving member and a first carrying member, the first driving memberbeing configured to drive the first carrying member to movetranslationally in a first axis direction; wherein the second linearmotion mechanism is mounted on the first carrying member and comprises asecond driving member and a second carrying member, wherein the seconddriving member is configured to drive the second carrying member to movetranslationally in a second axis direction; wherein the third linearmotion mechanism is mounted on the second carrying member and comprisesa third driving member and a third carrying member, wherein the thirddriving member drives the third carrying member to move translationallyin a third axis direction, and wherein the first axis direction, thesecond axis direction and the third axis direction build athree-dimensional Cartesian coordinate system; and wherein the clampmechanism is mounted on the third carrying member and is configured togrip the battery; a coordinate position of the clamp mechanism in thethree-dimensional Cartesian coordinate system being adjusted by thefirst driving member, the second driving member and the third drivingmember; a battery compartment mounted on the base plate, wherein thebattery compartment s configured to receive and charge the battery;wherein the battery replacement device is configured to grip thebattery, and to take out or insert the battery from or into the batterycompartment.
 2. The unmanned aerial vehicle dock according to claim 1,wherein the first linear motion mechanism further comprises a firstguiding member which is disposed in parallel to the first axisdirection, the first carrying member being provided with a first fittingmember which is fitted with the first guiding member, such that thefirst carrying member slides along the first guiding member.
 3. Theunmanned aerial vehicle dock according to claim 2, wherein the firstguiding member is a rail which is disposed in parallel to the first axisdirection, and wherein the first fitting member is a sliding block whichis fixed on a bottom of the first carrying member and provided with asliding groove having a shape fitted with the rail; or wherein the firstguiding member is a guide rod which is disposed in parallel to the firstaxis direction, and the first fitting portion is a hole provided on thefirst carrying member, and wherein the guide rod penetrates through thehole and slides inside the hole.
 4. The unmanned aerial vehicle dockaccording to claim 2, wherein the first driving member is a rotarymotor, and wherein the first linear motion mechanism further comprises afirst leadscrew and a first screw nut sleeved thereon, a driving shaftof the first driving member being fixedly and coaxially connected withone end of the first leadscrew, and the first screw nut being fixedlyconnected with the first carrying member; and wherein the first drivingmember is configured to drive the first leadscrew to rotate, the firstleadscrew is in a threaded fit with the first screw nut to drive thefirst screw to move, and the first screw nut is configured to drive thefirst carrying member to move translationally.
 5. The unmanned aerialvehicle dock according to claim 4, wherein the first linear motionmechanism further comprises one leadscrew seat and two motor brackets;wherein a bearing is provided at the leadscrew seat, wherein an end ofthe first leadscrew, which is distal from the first driving member, isdisposed in the bearing of the leadscrew seat; wherein the two motorbrackets are fixed on a base plate and disposed opposite to and spacedfrom each other, a mounting tab is provided at each of two opposite endsof the first driving member, and the two mounting tabs are fixedlyconnected with the two motor brackets respectively to fix the firstdriving member on the base plate; and wherein the first screw nut isfixed on the first carrying member.
 6. The unmanned aerial vehicle dockaccording to claim 4, wherein two first guiding members are provided,the two first guiding members being located at two sides of the firstleadscrew respectively and disposed in parallel to the first leadscrew.7. The unmanned aerial vehicle dock according to claim 2, wherein thefirst driving member is an air cylinder having a link, the link beingfixedly connected with the first carrying member to drive the firstcarrying member to move.
 8. The unmanned aerial vehicle dock accordingto claim 1, wherein the first driving member is a linear motor, aprimary of the linear motor being fixedly connected with the firstcarrying member to drive the first carrying member to movesynchronously; or wherein the first driving member is an air cylinderhaving no link, a piston of the air cylinder being fixedly connectedwith the first carrying member to drive the first carrying member tomove.
 9. The unmanned aerial vehicle dock according to claim 1, whereinthe first carrying member is a plate which is provided with a hollowportion.
 10. The unmanned aerial vehicle dock according to claim 1,wherein the first linear motion mechanism further comprises a firstlimit switch which is disposed along the first axis direction forsensing a moving position of the first carrying member.
 11. The unmannedaerial vehicle dock according to claim 10, wherein the first limitswitch is a photoelectric limit switch, a reed switch limit switch or aninductive limit switch.
 12. The unmanned aerial vehicle dock accordingto claim 1, wherein the second linear motion mechanism further comprisesa second guiding member which is disposed in parallel to the second axisdirection, and wherein the second carrying member is provided with asecond fitting member which is fitted with the second guiding member,such that the second carrying member slides along the second guidingmember.
 13. The unmanned aerial vehicle dock according to claim 1,wherein the third linear motion mechanism further comprises a thirdguiding member which is disposed in parallel to the third axisdirection, and wherein the third carrying member is provided with athird fitting member which is fitted with the third guiding member, suchthat the third carrying member slides along the third guiding member.14. The unmanned aerial vehicle dock according to claim 1, wherein theclamp mechanism is a vacuum suction cup clamp mechanism, a magnet clampmechanism or a mechanical gripper clamp mechanism.
 15. The unmannedaerial vehicle dock according to claim 1, wherein the batterycompartment comprises a plurality of battery receiving cavities whichare arranged in a matrix, and wherein each of the plurality of batteryreceiving cavities has an opening which is disposed at a side facing thebattery replacement device.
 16. The unmanned aerial vehicle dockaccording to claim 15, wherein each of the battery receiving cavities isprovided with a charging apparatus for charging the battery, thecharging apparatus can charge the battery when the battery is placedinto the battery receiving cavity.
 17. The unmanned aerial vehicle dockaccording to claim 16, wherein the charging apparatus is a non-contactcharging apparatus which comprises one of an electromagnetic inductivecircuit, a magnetic resonance inductive circuit and a microwaveinductive circuit.
 18. The unmanned aerial vehicle dock according toclaim 16, wherein the charging apparatus is a contact charging apparatuswhich comprises a charging contactor, the charging contactor is providedon an inner wall of the opening of each battery receiving cavity, andwherein the battery is provided with a corresponding charging electrodein electrical contact with the charging contactor.
 19. The unmannedaerial vehicle dock according to claim 15, wherein a fastener structureis provided on the inner wall of the opening of each battery receivingcavity, the fastener structure fastens the battery to secure the batterywithin the battery receiving cavity.
 20. The unmanned aerial vehicledock according to claim 19, wherein the fastener structure is an elasticclip, an electric lock or an electromagnetic lock.